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<h1><a href="../apiOverview.htm">Regular API</a> function</h1>
<h3 class=subsectionBar><a name="simGetJointMatrix" id="simGetJointMatrix"></a>simGetJointMatrix / sim.getJointMatrix</h3>
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<td class=apiTableLeftDescr>
Description 
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<td class=apiTableRightDescr>Retrieves the intrinsic transformation matrix of a joint (the transformation caused by the joint movement). See also <a href="simSetSphericalJointMatrix.htm">sim.setSphericalJointMatrix</a>.<br></td>
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C synopsis
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<td class=apiTableRightCSyn>simInt simGetJointMatrix(simInt objectHandle,simFloat* matrix)<br></td> 
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<td class=apiTableLeftCParam>C parameters</td> 
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<div><strong>objectHandle</strong>: handle of the joint</div>
<div><strong>matrix</strong>: pointer to 12 simFloat values (the last row of the 4x4 matrix (0,0,0,1) is not needed)</div>
<div class=tab>The x-axis of the orientation component is (matrix[0],matrix[4],matrix[8])</div>
<div class=tab>The y-axis of the orientation component is (matrix[1],matrix[5],matrix[9])</div>
<div class=tab>The z-axis of the orientation component is (matrix[2],matrix[6],matrix[10])</div>
<div class=tab>The translation component is (matrix[3],matrix[7],matrix[11])</div>
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C return value
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<div>-1 if operation was not successful</div>
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Lua synopsis
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<td class=apiTableRightLSyn>table_12 matrix=sim.getJointMatrix(number objectHandle)</td> 
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<td class=apiTableLeftLParam>Lua parameters</td> 
<td class=apiTableRightLParam><div><strong>objectHandle</strong>: handle of the joint</div>
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<td class=apiTableLeftLRet>
Lua return values
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<div><strong>matrix</strong>: table of 12 numbers (the last row of the 4x4 matrix (0,0,0,1) is not returned)</div></td> 
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Remote API equiv.
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<div>B0-based remote API: -</div>
<div>Legacy remote API: <a href="../remoteApiFunctions.htm#simxGetJointMatrix">simxGetJointMatrix</a></div>
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